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Remove MotorSafetyHelper, create MotorSafety base class instead (#562)

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Most of the MotorSafety implementation was moved into the MotorSafety base
class. SafePWM's inheritance of MotorSafety was moved into PWM to
eliminate Java needing a helper class.

In Java, a helper class for Sendable (SendableImpl) was added due to
lack of multiple inheritance.
This commit is contained in:
Tyler Veness
2018-11-22 21:15:26 -08:00
committed by Peter Johnson
parent df347e3d80
commit acb786a791
39 changed files with 710 additions and 1023 deletions
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4
wpilibc/src/main/native/cpp/PWMSpeedController.cpp
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@@ -25,11 +25,11 @@ bool PWMSpeedController::GetInverted() const { return m_isInverted; }
void PWMSpeedController::Disable() { SetDisabled(); }
void PWMSpeedController::StopMotor() { SafePWM::StopMotor(); }
void PWMSpeedController::StopMotor() { PWM::StopMotor(); }
void PWMSpeedController::PIDWrite(double output) { Set(output); }
PWMSpeedController::PWMSpeedController(int channel) : SafePWM(channel) {}
PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}
void PWMSpeedController::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");